WO2017179109A1 - Programme d'estimation de position, procédé d'estimation de position, et dispositif d'estimation de position - Google Patents

Programme d'estimation de position, procédé d'estimation de position, et dispositif d'estimation de position Download PDF

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Publication number
WO2017179109A1
WO2017179109A1 PCT/JP2016/061742 JP2016061742W WO2017179109A1 WO 2017179109 A1 WO2017179109 A1 WO 2017179109A1 JP 2016061742 W JP2016061742 W JP 2016061742W WO 2017179109 A1 WO2017179109 A1 WO 2017179109A1
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WO
WIPO (PCT)
Prior art keywords
floor
terminal
ratio
floors
position estimation
Prior art date
Application number
PCT/JP2016/061742
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English (en)
Japanese (ja)
Inventor
夏目浩太
秀嶋元才
陶山香織
中村文昭
藤田悦誌
Original Assignee
富士通株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 富士通株式会社 filed Critical 富士通株式会社
Priority to JP2018511565A priority Critical patent/JPWO2017179109A1/ja
Priority to PCT/JP2016/061742 priority patent/WO2017179109A1/fr
Publication of WO2017179109A1 publication Critical patent/WO2017179109A1/fr
Priority to US16/154,982 priority patent/US20190045329A1/en

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/014—Identifying transitions between environments
    • G01S5/016—Identifying transitions between environments between areas within a building
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/017—Detecting state or type of motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • G01S5/02521—Radio frequency fingerprinting using a radio-map
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M11/00—Telephonic communication systems specially adapted for combination with other electrical systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/02—Indoor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings

Definitions

  • This case relates to a position estimation program, a position estimation method, and a position estimation apparatus.
  • a wireless LAN in which a terminal connects to a local area network (LAN) by wireless communication is known (for example, see Patent Document 1).
  • a wireless LAN base station wirelessly transmits a signal or radio wave (hereinafter simply referred to as radio wave) called a beacon at regular intervals, and the terminal can measure the intensity of the radio wave (hereinafter referred to as radio wave intensity).
  • radio wave intensity a signal or radio wave (hereinafter simply referred to as radio wave) called a beacon at regular intervals, and the terminal can measure the intensity of the radio wave (hereinafter referred to as radio wave intensity).
  • a position estimation device that estimates the position of a terminal based on the radio field intensity transmitted from the terminal and the position of a base station registered in advance is also known (see, for example, Patent Document 2).
  • the position of a terminal when the position of a terminal is estimated in a facility where a base station is installed in each of a plurality of hierarchies (hereinafter referred to as a floor), the position of the terminal may not be accurately estimated due to a structural factor of the facility.
  • a part of the ceiling on the first floor may be opened to the second floor by an atrium.
  • the radio field strength of the base station on the second floor may be measured stronger than the radio field strength of the base station on the first floor due to the atrium. There is a risk of estimation.
  • an object of one aspect is to provide a position estimation program, a position estimation method, and a position estimation apparatus that can accurately estimate the position of a terminal including a location floor even in a facility having a plurality of floors.
  • the position estimation program disclosed in the present specification is based on the radio wave intensity from the terminal at each time detected by each of a plurality of base stations installed on a plurality of floors and the positions of the plurality of base stations.
  • a candidate group representing a position when the terminal exists on each floor is generated, and based on a trajectory for each floor of the candidate group and a movement availability condition that determines whether the terminal can move on each of the plurality of floors, It is a position estimation program for causing a computer to execute processing for specifying a floor where the terminal is present.
  • the plurality of base stations installed on a plurality of floors are detected on the basis of the radio wave intensity from the terminal at each time and the positions of the plurality of base stations.
  • a candidate group representing a position when the terminal exists on each floor is generated, and based on a trajectory for each floor of the candidate group and a movement availability condition that determines whether the terminal can move on each of the plurality of floors, It is a position estimation method in which a computer executes a process of identifying a floor where the terminal exists.
  • the position estimation device disclosed in the present specification is based on the radio wave intensity from the terminal at each time detected by each of a plurality of base stations installed on a plurality of floors and the positions of the plurality of base stations.
  • a specifying means for specifying a floor where the terminal is located.
  • the position estimation program, the position estimation method, and the position estimation device disclosed in this specification it is possible to accurately estimate the position of a terminal including a location floor even in a facility having a plurality of floors.
  • FIG. 1 is a diagram for explaining an example of a position estimation system.
  • FIG. 2A shows an example of a zone layout on the first floor.
  • FIG. 2B is an example of the zone layout on the second floor.
  • FIG. 3 shows an example of the hardware configuration of the floor specifying server.
  • FIG. 4 is an example of a functional block diagram of the position estimation apparatus.
  • FIG. 5 is an example of property information.
  • FIG. 6 is an example of rule information.
  • FIG. 7 is an example of device information.
  • FIG. 8 is a flowchart illustrating an example of processing executed by the information processing unit.
  • FIG. 9 is a flowchart illustrating another example of processing executed by the information processing unit.
  • FIG. 10A shows an example of device movement on the first floor.
  • FIG. 10A shows an example of device movement on the first floor.
  • FIG. 10B is an example of the absence of a device on the second floor.
  • FIG. 11A shows a locus of device position coordinates detected by an access point on the first floor.
  • FIG. 11B is a locus of the position coordinates of the device detected by the access point on the second floor.
  • FIG. 12 is a flowchart showing an example of the operation of the floor specifying unit.
  • FIG. 13 is an example of analysis target information.
  • FIG. 14 is a flowchart showing an example of the floor specifying process.
  • FIGS. 15A and 15B are diagrams for explaining an example of the analysis range A.
  • FIG. 16 is a diagram for explaining an example of timing at which movement between floors occurs.
  • FIGS. 17A and 17B are diagrams for explaining an example of the analysis range B.
  • FIG. 18 is an example of device information in which a floor is specified.
  • FIG. 19 is an example of device information in which a processed flag is registered.
  • FIG. 20 is a flowchart illustrating a part of the floor specifying process.
  • FIGS. 21A and 21B are examples of scatter diagrams showing the relationship between the detection time in the analysis range A and the radio wave intensity.
  • 22A and 22B are examples of a scatter diagram showing the relationship between the detection time in the analysis range B and the radio wave intensity.
  • FIG. 1 is a diagram for explaining an example of the position estimation system S.
  • the position estimation system S is used in a facility FC having a plurality of floors FL1, FL2.
  • Examples of the facility FC include commercial facilities such as stores, school facilities such as school buildings, medical facilities, amusement facilities, and office buildings.
  • the floors FL1 and FL2 include, for example, the first floor, the second floor, the third floor, the fourth floor, the second basement floor, and the first basement floor.
  • the floors FL1 and FL2 will be described as the first floor and the second floor.
  • each of the floors FL1 and FL2 is divided into a plurality of areas (hereinafter referred to as zones).
  • zones Depending on the zone, entrances 11 and 21 for exiting the facility FC and entering the facility FC are provided. In this embodiment, as shown in FIG. 1, the entrances 11 and 21 are provided in each of the specific zones on the first floor and the second floor.
  • various facilities that can move between floors are installed depending on the zone.
  • equipment such as an elevator EL, an escalator ESC, and a staircase STR is installed in a specific zone. Therefore, the user USR in the facility FC can use these facilities to move from the first floor to the second floor of the facility FC or from the second floor to the first floor, for example.
  • a colonnade there may be a colonnade, stair landing, a mezzanine floor provided in the middle between the floors FL1 and FL2, and decorations that decorate the facility FC.
  • a part of the ceiling on the first floor is opened to the second floor by a colonnade 13 provided in a specific zone.
  • the position estimation system S includes a plurality of base stations (hereinafter referred to as access points) AP11 to AP23 and a position estimation apparatus 100.
  • the access points AP11 to AP13 are installed at different positions on the first floor, for example.
  • the access points AP21 to AP23 are installed at different positions on the second floor, for example.
  • Access points AP11 to AP23 all transmit radio waves at a constant period.
  • the radio waves can pass through the atrium 13, the ceiling of the facility FC, the wall of the facility, and decorations. Therefore, for example, a terminal (hereinafter referred to as a device) 30 carried by the user USR on the first floor may measure the radio field intensity of radio waves transmitted from the access points AP21 to AP23. Further, the device 30 located outside the facility FC may measure the radio field intensity of radio waves transmitted from the access points AP11 to AP23. Examples of the device 30 include smart devices such as smartphones, smart watches, and tablet terminals.
  • any of the access points AP11 to AP23 can detect the device 30. More specifically, when the device 30 measures the radio field intensity, the device 30 transmits the device ID assigned to the device 30 and the measured radio field intensity to the access points AP11 to AP23. Although details will be described later, the device ID is identification information for identifying the device 30.
  • the access points AP11 to AP23 detect the device 30 by detecting the device ID, radio wave intensity, etc. transmitted from the device 30.
  • the position estimation apparatus 100 described above includes a Database (DB) server 110 and a floor identification server 120.
  • the DB server 110 is directly or indirectly connected to the access points AP11 to AP23. Therefore, the DB server 110 can acquire the radio wave intensity, device ID, and the like from the device 30. More specifically, the DB server 110 can acquire the radio wave intensity and device ID detected by the access points AP11 to AP23 together with the detection time of the device 30.
  • the DB server 110 estimates the position coordinates of the device 30 based on the acquired radio wave intensity and the position coordinates of the access points AP11 to AP23 registered in advance in the DB server 110.
  • the floor specifying server 120 uses the position coordinates estimated by the DB server 110 to specify one of the floors FL1 and FL2 on which the device 30 exists. More specifically, the floor specifying server 120 is a candidate group that represents a case where the devices 30 exist on each of the plurality of floors FL1 and FL2 among the candidate groups that represent the positions of the devices 30 estimated by the DB server 110 at each of a plurality of times. Based on the trajectory for each of the floors FL1 and FL2 and the rule information on each of the plurality of floors FL1 and FL2, one of the floors FL1 and FL2 on which the device 30 exists is specified.
  • the rule information is information representing a condition that determines whether the device 30 can move. Details of the rule information will be described later.
  • the functions of the DB server 110 and the floor specifying server 120 have been briefly described above, but detailed functions and operations of the DB server 110 and the floor specifying server 120 will be described later.
  • all of the access points AP11 to AP23, the DB server 110, and the floor specifying server 120 may be on the same communication network, or some of them may be on different communication networks via the Internet or the like.
  • the DB server 110 and the floor specifying server 120 may be deployed in a data center on the cloud.
  • Fig. 2 (a) is an example of the zone layout on the first floor.
  • FIG. 2B is an example of the zone layout on the second floor.
  • the zone Z1 is used as an event venue, for example, and there is an entrance / exit 11.
  • the zone Z2 is used as a small goods store such as a wallet or a regular storage, and has a staircase STR.
  • the zone Z3 is used as, for example, a men's clothing store, and there is an elevator EL.
  • the zone Z4 is used as, for example, a women's clothing store, and there is an escalator ESC.
  • Zone Z5 is used as a service counter, for example, and there is no facility that can move between the entrances 11 and 21 and the floor.
  • Zones Z1 to Z5 are all defined in advance according to position coordinates starting from a specific position (for example, one of the four corners).
  • the zone Z1 is defined in the range from the position coordinates (0, 0) to the position coordinates (20, 10) on the first floor.
  • the second floor is divided into a plurality of zones Z6 to Z12 as shown in FIG. 2 (b).
  • the zone Z6 is used as a children's clothing counter, for example, and there is an entrance / exit 21.
  • the zone Z7 is used as a school supplies section such as a bag for children and stationery, for example, and there is no facility that can move between the entrances 11 and 21 and the floor.
  • the zone Z8 is used as, for example, a general merchandise department and has a staircase STR.
  • Zone Z9 is used as a shoe store, for example, and there is an elevator EL.
  • the zone Z10 is used as, for example, a sale item sales floor, and there is no equipment that can move between the entrances 11 and 21 and the floor, but there is an atrium 13.
  • the zone Z11 is used as, for example, a trouser store, and there is no facility that can move between the entrances 11 and 21 and the floor.
  • the zone Z12 is used as a skirt section, for example, and there is an escalator ESC.
  • the zones Z6 to Z12 are also defined in advance according to position coordinates starting from a specific position (for example, one of the four corners). For example, the zone Z12 is defined in the range from the position coordinates (18, 12) to the position coordinates (30, 20) on the second floor.
  • the DB server 110 described above has basically the same hardware configuration as that of the floor specifying server 120, and thus the description thereof is omitted.
  • FIG. 3 shows an example of the hardware configuration of the floor identification server 120.
  • the floor specifying server 120 includes at least a central processing unit (CPU) 120A, a random access memory (RAM) 120B, a read only memory (ROM) 120C, and a network I / F (interface) 120D.
  • the floor specifying server 120 may include at least one of a hard disk drive (HDD) 120E, an input I / F 120F, an output I / F 120G, an input / output I / F 120H, and a drive device 120I as necessary.
  • the CPU 120A to the drive device 120I are connected to each other by an internal bus 120J. At least the CPU 120A and the RAM 120B cooperate to realize a computer.
  • An input device 710 is connected to the input I / F 120F.
  • Examples of the input device 710 include a keyboard and a mouse.
  • a display device 720 is connected to the output I / F 120G.
  • An example of the display device 720 is a liquid crystal display.
  • a semiconductor memory 730 is connected to the input / output I / F 120H. Examples of the semiconductor memory 730 include a universal serial bus (USB) memory and a flash memory.
  • the input / output I / F 120 ⁇ / b> H reads programs and data stored in the semiconductor memory 730.
  • the input I / F 120F and the input / output I / F 120H include, for example, a USB port.
  • the output I / F 120G includes a display port, for example.
  • a portable recording medium 740 is inserted into the drive device 120I.
  • Examples of the portable recording medium 740 include a removable disk such as a Compact Disc (CD) -ROM and a Digital Versatile Disc (DVD).
  • the drive device 120I reads a program and data recorded on the portable recording medium 740.
  • the network I / F 120D includes a LAN port, for example.
  • the network I / F 120D is connected to the DB server 110.
  • a program stored in the ROM 120C or the HDD 120E is stored by the CPU 120A.
  • the program recorded on the portable recording medium 740 is stored by the CPU 120A.
  • FIG. 4 is an example of a functional block diagram of the position estimation apparatus 100.
  • FIG. 5 is an example of property information.
  • FIG. 6 is an example of rule information.
  • FIG. 7 is an example of device information.
  • the DB server 110 includes a zone information storage unit 111, a device information first storage unit 112, a device information second storage unit 113, and an information processing unit 114.
  • An on-memory or a file system may be used as means for realizing the zone information storage unit 111, the device information first storage unit 112, and the device information second storage unit 113.
  • the zone information storage unit 111 stores zone information. More specifically, the zone information storage unit 111 stores property information and the above-described rule information as zone information.
  • Property information is information indicating the attributes of the zones Z1 to Z12 described above. More specifically, as shown in FIG. 5, each property information includes a property ID, a zone name, a zone type, a floor, an X coordinate range, and a Y coordinate range as components.
  • the property ID represents identification information for identifying property information.
  • the zone name represents the names of the zones Z1 to Z12.
  • the zone type represents the type of zones Z1 to Z12. Specifically, the zone type “entrance / exit” indicates that the entrance / exit 11 or the entrance / exit 21 exists in the zone.
  • the zone type “floor movement” indicates that a staircase STR, an elevator EL, or an escalator ESC exists in the zone.
  • the zone type “normal” indicates that there is no equipment that can move between the entrances 11 and 21 and the floor in the zone.
  • the floor indicates whether the zones Z1 to Z12 belong to the first floor or the second floor.
  • the X coordinate range and the Y coordinate range represent the respective ranges of the zones Z1 to Z12.
  • the property information is stored in advance in the zone information storage unit 111.
  • the rule information is generated by the information processing unit 114 based on the property information. That is, the information processing unit 114 acquires property information from the zone information storage unit 111, generates rule information based on the acquired property information, and stores the rule information in the zone information storage unit 111. Thereby, the zone information storage unit 111 stores the rule information. Note that an administrator who manages the DB server 110 may generate rule information and store it in the zone information storage unit 111 without the information processing unit 114 generating rule information.
  • each rule information includes a rule ID, a zone name, a floor, and a rule as components.
  • the rules include possible actions and movable zones as components.
  • the rule ID represents identification information for identifying rule information. Since the zone name and floor have already been described, they are omitted.
  • Possible actions represent actions that are possible in each of the zones Z1 to Z12. For example, there is an entrance 11 in the zone Z1 of the zone name “event venue”. Therefore, a possible action “entrance / exit” indicating that the user can go out of the facility FC or enter the facility FC is registered. For example, there is a staircase STR in the zone Z2 of the zone name “Accessories”. For this reason, a possible action “floor movement” indicating that movement between floors is possible is registered.
  • the movable zone represents the zone name of the adjacent zone that can move directly from each of the zones Z1 to Z12. Since the property information includes the X coordinate range and the Y coordinate range, the information processing unit 114 can determine the movable zone. For example, zones Z7, Z9, and Z10 are adjacent to zone Z6 (see FIG. 2B). Therefore, the information processing unit 114 determines the zone names “school supplies”, “shoes”, and “sale products” assigned to the zones Z7, Z9, and Z10 as the movable zones of the zone Z6 and registers them in the rule information. In other words, the zones Z8, Z11, and Z12 are not adjacent to the zone Z6. For this reason, the information processing unit 114 determines the zone names “miscellaneous goods”, “trousers”, and “skirts” assigned to the zones Z8, Z11, and Z12 as immovable zones that cannot be moved directly. exclude.
  • the information processing unit 114 acquires the radio wave intensity, device ID, and detection time from the access points AP11 to AP23.
  • the information processing unit 114 estimates the position coordinates of the device 30 based on the acquired radio wave intensity and the position coordinates (not shown) of the access points AP11 to AP23 registered in advance in the DB server 110.
  • the information processing unit 114 generates device information including a device ID, radio wave intensity, detection time, estimated position coordinates, and the like, and stores the device information in the device information first storage unit 112.
  • the device information includes a device ID, position coordinates, floor, detection time, radio wave intensity, and processed flag as constituent elements.
  • the device ID includes, for example, Media Access Control address (MAC address), but is not necessarily limited to the MAC address as long as the device 30 can be identified.
  • the position coordinates represent the position coordinates estimated by the information processing unit 114.
  • the position coordinates where the X coordinate is expressed by a minus sign indicates that the position of the device 30 is outside the facility FC.
  • the floor represents an installation floor of the access points AP11 to AP23 used when estimating the position coordinates.
  • the detection time represents the time when the access points AP11 to AP23 detect the device 30.
  • the radio wave intensity represents the radio wave intensity detected by the access points AP11 to AP23.
  • a flag indicating whether or not a floor specifying process described later has been completed is registered.
  • the position coordinate (6, 1) is the radio field intensity “ ⁇ 53” decibel (dBm) detected by any of the access points AP11 to 13 on the first floor at the time “10:00:14”. Is estimated based on.
  • the same position coordinate (6, 1) is also estimated based on the radio field intensity “ ⁇ 49” decibel (dBm) detected by any of the access points AP21 to AP23 on the second floor at the time “10:00:14”.
  • the radio wave intensity “ ⁇ 49” decibels is stronger than the radio wave intensity “ ⁇ 53” decibels, so that the access points AP21 to 23 on the second floor detect stronger radio wave intensities than the access points AP11 to 13 on the first floor. Yes. This is due to structural factors of the facility such as the atrium 13, ceiling, decorations, and mezzanine.
  • the device information second storage unit 113 stores a part of the device information stored in the device information first storage unit 112. More specifically, the floor specifying process described later is executed, and the device information second storage unit 113 stores device information specified for any one floor. In other words, the device information second storage unit 113 stores the device information excluding the device information including the position coordinates erroneously estimated from the device information stored in the device information first storage unit 112.
  • the floor specifying server 120 includes a floor specifying unit 121 as specifying means.
  • the floor specifying unit 121 may be included in the DB server 110 and the floor specifying server 120 may be excluded from the position estimation device 100.
  • the position estimation device 100 is realized by one server device.
  • the floor specifying unit 121 requests and acquires various information from the information processing unit 114 at a specific timing. For example, the floor specifying unit 121 monitors the information processing unit 114, and when the information processing unit 114 detects that the device information is stored in the device information first storage unit 112, the floor specifying unit 121 requests information. Specifically, the floor specifying unit 121 requests and acquires the property information, rule information, and device information described above. Upon acquiring these pieces of information, the floor specifying unit 121 associates device information, property information, and rule information, executes a floor specifying process to be described later, and transmits the execution result to the information processing unit 114. Detailed functions and operations of the floor specifying unit 121 will be described later.
  • FIG. 8 is a flowchart illustrating an example of processing executed by the information processing unit 114. More specifically, FIG. 8 shows a rule information generation process.
  • the information processing unit 114 waits until property information is registered (step S101: NO). More specifically, the information processing unit 114 waits until property information is registered in the zone information storage unit 111.
  • the information processing unit 114 generates rule information based on the property information (step S102), and stores the rule information in the zone information storage unit 111 (step S103). Thereby, the zone information storage unit 111 stores property information and rule information as zone information.
  • FIG. 9 is a flowchart showing another example of processing executed by the information processing unit 114. More specifically, FIG. 9 shows an estimation process for estimating the position coordinates of the device 30. As shown in FIG. 9, the information processing unit 114 acquires the device ID, the radio wave intensity, and the detection time from the access points AP11 to AP23 (step S201). When the process of step S201 is completed, the information processing unit 114 estimates the position coordinates of the device 30 based on the radio wave intensity and the position coordinates of the access points AP11 to AP23 (step S202).
  • the information processing unit 114 estimates a plurality of position coordinate candidates (black spots on FIG. 11A) using the radio wave intensity detected by the access points AP11 to AP13.
  • a predetermined locus is obtained by connecting the estimated position coordinate candidates in time series.
  • the access points AP21 to AP23 installed on the second floor can communicate with the device 30 and detect the radio wave intensity from the device 30. . Therefore, as shown in FIG. 11B, the information processing unit 114 estimates a plurality of position coordinate candidates (black spots on FIG. 11B) using the radio wave intensity detected by the access points AP21 to AP23. To do. Similarly to the above, a predetermined locus is obtained by connecting the estimated position coordinate candidates in time series. Thus, although the device 30 actually exists on the first floor, the position coordinates are estimated as if it exists on the second floor.
  • the information processing unit 114 stores the device information in the device information first storage unit 112 (step S203). More specifically, the information processing unit 114 stores device information including the device ID, the estimated position coordinates, the installation floor of the access points AP11 to 23, the detection time of the device 30, and the radio wave intensity in the device information first storage unit 112. To do. Thereby, the device information first storage unit 112 stores the device information based on the radio wave intensity detected by the access points AP11 to 13 on the first floor and the device information based on the radio wave intensity detected by the access points AP21 to 23 on the second floor. Memorize in a mixed state.
  • FIG. 12 is a flowchart illustrating an example of the operation of the floor specifying unit 121.
  • FIG. 13 is an example of analysis target information.
  • the floor specifying unit 121 first acquires property information, rule information, and device information (step S301).
  • the floor identification unit 121 monitors the information processing unit 114, and when the information processing unit 114 stores the device information in the device information first storage unit 112, the property information, the rule information, and the device information transmission request are displayed as information.
  • the data is transmitted to the processing unit 114.
  • the floor specifying unit 121 transmits a transmission request for device information for which the processed flag is not registered, instead of all device information.
  • the information processing unit 114 receives a transmission request from the floor specifying unit 121, the information processing unit 114 extracts property information and rule information from the zone information storage unit 111 and extracts device information from the device information first storage unit 112.
  • the information processing unit 114 transmits the extracted property information, rule information, and device information to the floor specifying unit 121.
  • the floor specifying unit 121 determines whether or not all the acquired device information floors have been specified (step S302). That is, the floor specifying unit 121 determines whether a floor has been specified for all device information for which no processed flag is registered. When not all device information floors have been specified (step S302: NO), the floor specifying unit 121 associates device information, rule information, and property information (step S303). More specifically, the floor specifying unit 121 determines whether the position coordinates included in the device information belong to any of the zones Z1 to Z12 specified by the X coordinate range and the Y coordinate range of the property information. Associate rule information with property information.
  • step S303 analysis target information in which device information is associated with rule information and property information as zone information is generated.
  • step S304 the floor specifying unit 121 executes the floor specifying process.
  • step S302 the process of step S302 is executed again.
  • step S302 YES
  • FIG. 14 is a flowchart showing an example of the floor specifying process.
  • FIGS. 15A and 15B are diagrams for explaining an example of the analysis range A.
  • FIG. 16 is a diagram for explaining an example of timing at which movement between floors occurs.
  • FIGS. 17A and 17B are diagrams for explaining an example of the analysis range B.
  • FIG. 14 is a flowchart showing an example of the floor specifying process.
  • FIGS. 15A and 15B are diagrams for explaining an example of the analysis range A.
  • FIG. 16 is a diagram for explaining an example of timing at which movement between floors occurs.
  • FIGS. 17A and 17B are diagrams for explaining an example of the analysis range B.
  • the floor specifying unit 121 sets the analysis range of the analysis target information (step S401). For example, as shown in FIG. 15A, the device 30 exists in the zone Z2 where the movement between floors may occur from the time T1 when the device 30 starts to exist in the zone Z1 where the doorway 11 exists. The period up to time T2 is set as the analysis range A. The analysis range A is also applied to the second floor as shown in FIG. Thereby, one end of the locus exists in zones Z2 and Z8, respectively. That is, as shown in FIG. 16, movement between floors may occur between a zone Z2 used as a small article sales area and a zone Z8 used as a general merchandise sales area.
  • the reason for setting the analysis range A in this way is that when the movement between floors occurs, the detection timing tendency of the device 30 changes. For example, as shown in FIG. 15A, when the device 30 on the first floor is detected at a predetermined detection timing and the device 30 moves to the second floor in the zone Z2, the time until the zone Z2 returns to the zone Z1. In movement, there is a possibility that the detection timing is wider than before the movement to the second floor. On the contrary, in the movement until the device 30 returns from the zone Z8 on the second floor to the zone Z6 via the zone Z10, the detection timing may be dense. Therefore, the floor specifying unit 121 sets the analysis range and specifies the floor on which the device 30 exists using the first floor position coordinates and the second floor position coordinates whose detection timing tendency does not change.
  • the device 30 exists in the zone Z1 where the entrance / exit 11 exists from the time T3 when the device 30 exists in the zone Z2 where the movement between floors may occur. You may set as analysis range B until the time T4 which finished.
  • the analysis range B is also applied to the second floor as shown in FIG. In the present embodiment, the analysis range A and the analysis range B will be described.
  • one analysis range may be set from time T1 when the device 30 starts to exist in the zone Z1 where the gateway 11 exists to time T4 when the device 30 finishes existing in the zone Z1 where the gateway 11 exists. Further, the device 30 is located in any one of the zones Z1 to Z12 where the movement between floors may occur from the time when the device 30 exists in any of the zones Z1 to Z12 where the movement between floors may occur. Up to an existing time may be set as one analysis range. The analysis range may be set manually by the administrator.
  • the floor specifying unit 121 determines whether or not the processing for the entire range has been completed (step S402). In the present embodiment, the floor specifying unit 121 determines whether or not the processing for both the analysis range A and the analysis range B has been completed.
  • the floor specifying unit 121 calculates an NG movement ratio (step S403).
  • the NG movement ratio is a ratio of the number of times the device 30 has moved to a zone where the device 30 cannot move with respect to the total number of position coordinates belonging to the analysis range A or analysis range B of the floor.
  • the NG movement ratio is a ratio of the number of times the device 30 has moved to a zone where the device 30 cannot move with respect to the total number of position coordinates belonging to the analysis range A or analysis range B of the floor.
  • the analysis range A will be described as an example of the processing target, but the same applies to the analysis range B.
  • the floor specifying unit 121 calculates the NG movement ratio of the analysis range A for each floor using the movable zone of the analysis target information. Specifically, with reference to FIG. 15A, first, the total number of position coordinates belonging to the analysis range A on the first floor is 16. On the other hand, based on the movable zone of the analysis target information (see FIG. 6 and FIG. 13), the zone Z1 representing the zone name “event venue” and the zone Z2 representing the zone name “small item” are mutually movable zones. Is registered. Therefore, the number of times the device 30 has moved to a zone where it cannot move is zero. Thereby, the NG movement ratio of the first floor is calculated as 0 from 0 (times) / 16 (pieces).
  • the total number of position coordinates belonging to the analysis range A on the second floor is five.
  • the zone Z6 representing the zone name “children's clothing” and the zone Z8 representing the zone name “miscellaneous goods” are movable zones. Is not registered. That is, when the device 30 moves in time series, it is required to pass through the zone Z7 until it moves from the zone Z6 to the zone Z8, but based on the position coordinates belonging to the analysis range A on the second floor, the device 30 Directly moving from Z6 to zone Z8. Therefore, the number of times the device 30 has moved to a zone where it cannot move is one. Thereby, the NG movement ratio of the second floor is calculated as 0.2 from 1 (times) / 5 (pieces).
  • the floor specifying unit 121 specifies the floor (step S404). More specifically, the floor specifying unit 121 specifies the floor with the smaller calculated NG movement ratio as the floor where the device 30 exists. In this embodiment, the NG movement ratio of the first floor is calculated as 0, the NG movement ratio of the second floor is calculated as 0.2, and the NG movement ratio of the first floor is smaller than the NG movement ratio of the second floor. . Therefore, the floor specifying unit 121 specifies the first floor having the smaller NG movement ratio as the floor where the device 30 is located. When the NG movement ratio on the first floor and the NG movement ratio on the second floor are the same, the floor specifying unit 121 specifies the one with the larger number of detected devices 30 as the location floor where the device 30 exists.
  • the floor specifying unit 121 When the processing in step S404 is completed, the floor specifying unit 121 then stores the device information in the device information second storage unit 113 (step S405). For example, the floor specifying unit 121 deletes the device information in which the second floor is registered in the floor from the device information corresponding to the analysis target information set in the analysis range A, and stores the remaining device information in the device information second storage unit 113 is stored. Deletion may be physical deletion that physically deletes device information, or logical deletion that logically deletes device information using a flag or the like. Therefore, the device information second storage unit 113 stores device information in which the first floor is registered in the floor for the analysis range A.
  • the floor specifying unit 121 may store the device information directly in the device information second storage unit 113, or may transmit the device information to the information processing unit 114, and the information processing unit 114 may store the device information in the device information second storage unit 113. Device information may be stored.
  • the floor specifying unit 121 executes the process of step S402. Therefore, the floor specifying unit 121 executes the processing from step S403 to step S405 for the analysis range B.
  • the device information second storage unit 113 stores device information in which the first floor is registered in the floor for each of the analysis range A and the analysis range B.
  • step S402 when the process of the whole range is completed (step S402: YES), the floor specific
  • the position estimation device 100 detects the radio field intensity from the device 30 and the plurality of access points AP11 detected at each of the plurality of access points AP11 to AP23 installed on the plurality of floors. Based on the position of AP23, the position of the device 30 is estimated.
  • the position estimation apparatus 100 includes a floor specifying unit 121 that specifies the floor on which the device 30 exists.
  • the floor specifying unit 121 generates a candidate group that represents a position when the device 30 exists on each of the plurality of floors among the candidate groups that represent the position coordinates of the device 30 estimated at each of a plurality of times.
  • the location floor is specified based on each trajectory and rule information. Thereby, the position of the device 30 including the location floor can be estimated with high accuracy.
  • FIG. 20 is a flowchart illustrating a part of the floor specifying process.
  • FIGS. 21A and 21B are examples of scatter diagrams showing the relationship between the detection time in the analysis range A and the radio wave intensity.
  • 22A and 22B are examples of a scatter diagram showing the relationship between the detection time in the analysis range B and the radio wave intensity.
  • the floor identification unit 121 may execute processing from step S501 to step S503 described later between the processing of step S403 and step S404 described in the first embodiment.
  • the floor specifying unit 121 calculates a detection interval ratio (step S501).
  • the detection interval ratio represents the ratio between the average value of the detection intervals of the devices 30 belonging to the analysis range A of the floor and the time required for the device 30 to move the analysis range A. The same applies to the analysis range B.
  • the floor specifying unit 121 detects the device 30 with respect to the time from the time when the device 30 starts to exist on each of the plurality of floors FL1 and FL2 to the time when the device 30 exists just before the analysis range A is removed. The average value of the interval is calculated for each floor. 21A, first, the floor identification unit 121 calculates a time T from time T1 when the device 30 starts to exist until time T2 when the device 30 exists just before the analysis range A is removed. . Next, the floor specifying unit 121 calculates an average value t_mean1 of time intervals of a plurality of points shown in FIG.
  • the floor specifying unit 121 calculates the time T and the average value t_mean1, the average value t_mean1 is divided by the time T to calculate the detection interval ratio t_mean1 / T. Similarly, the floor specifying unit 121 calculates the detection interval ratio t_mean2 / T based on a plurality of points shown in FIG.
  • the floor specifying unit 121 calculates an outlier ratio (step S502).
  • the outlier ratio represents a ratio between the total number of detected devices 30 belonging to the analysis range A and the number of outliers of radio wave intensity. The same applies to the analysis range B.
  • the outlier for example, an outlier that is simply set by using the absolute value of the difference from the average value by K times the error, an outlier using the Thompson test, or the like can be used.
  • the floor specifying unit 121 calculates the ratio between the total number of detected devices 30 belonging to the analysis range A and the number of outliers of the radio wave intensity for each floor. 21A, the floor specifying unit 121 first counts the total number of detected devices 30 belonging to the analysis range A. In this embodiment, it is counted as 16. Next, the floor specifying unit 121 counts the number of outliers from the plurality of black spots shown in FIG. In this embodiment, it is counted as zero. When the floor identification unit 121 counts the total number of detections and the number of outliers, 0 is divided by 16 to calculate an outlier ratio 0. Similarly, the floor specifying unit 121 calculates an outlier ratio based on a plurality of black spots shown in FIG. In this case, since the total number of detections is counted as 5 and the number of outliers is counted as 2, the floor specifying unit 121 divides 2 by 5 and calculates the outlier ratio 0.4.
  • the floor specifying unit 121 then sums the calculated ratios (step S503). Specifically, the floor specifying unit 121 sums the NG movement ratio, the detection interval ratio, and the outlier ratio for each floor. As a result, the NG movement ratio, detection interval ratio, and outlier ratio on the first floor are 0, t_mean1, and 0 in this order, so the total value t_mean1 is calculated. On the other hand, since the second floor NG movement ratio, detection interval ratio, and outlier ratio are 0.2, t_mean2, and 0.4 in this order, the total value 0.6 + t_mean2 is calculated.
  • the floor specifying unit 121 executes the process of step S404.
  • specification part 121 specifies the floor with the smaller total value of the calculated ratio as a location floor where the device 30 existed.
  • the total value of the ratio of the first floor is calculated as t_mean1
  • the total value of the ratio of the second floor is calculated as 0.6 + t_mean2. Therefore, if the total value of the ratio of the first floor is smaller than the total value of the ratio of the second floor, the floor specifying unit 121 specifies the first floor as the location floor where the device 30 exists.
  • the floor identification unit 121 executes the processing from step S501 to step S503. For example, when a scatter diagram as shown in FIGS. 22A and 22B is obtained for the analysis range B, first, the floor identifying unit 121 immediately after entering the analysis range B in the process of step S501, the device 30. The time T ′ from the time T3 when the device 30 exists to the time T4 when the device 30 finishes existing is calculated. Next, the floor specifying unit 121 calculates an average value t_mean3 of the time intervals of a plurality of black spots shown in FIG.
  • the floor specifying unit 121 divides the average value t_mean3 by the time T ′ to calculate the detection interval ratio t_mean3 / T ′. Similarly, the floor specifying unit 121 calculates the detection interval ratio t_mean4 / T ′ based on a plurality of black spots shown in FIG.
  • the floor specifying unit 121 counts the total number of detected devices 30 belonging to the analysis range B. In the case of the scatter diagram shown in FIG. 22A, 21 is counted in the present embodiment.
  • the floor specifying unit 121 counts the number of outliers from a plurality of points shown in FIG. In this embodiment, it is counted as two.
  • the floor identification unit 121 counts the total number of detections and the number of outliers, it divides 2 by 21, and calculates an outlier ratio of 0.095 (rounded down to the nearest decimal point).
  • the floor specifying unit 121 calculates an outlier ratio based on a plurality of points shown in FIG. In this case, the total number of detections is counted as 8, and the number of outliers is counted as 3. Therefore, the floor specifying unit 121 divides 3 by 8, and the outlier ratio is 0.375 (rounded down). Is calculated.
  • the floor specifying unit 121 specifies the location floor using the detection interval ratio and the outlier ratio in addition to the NG movement ratio. Thereby, the position of the device 30 including the location floor can be estimated with higher accuracy than in the first embodiment.
  • the location floor is specified by adding the NG movement ratio, the detection interval ratio, and the outlier ratio, but the location floor is specified by using the detection interval ratio or the outlier ratio alone.
  • the location floor may be specified by adding up either the NG movement ratio and the detection interval ratio or the outlier ratio.
  • Position estimation apparatus DB server 111 Zone information storage part 112 Device information 1st memory
  • Floor specific server 121 Floor specific part

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un programme d'estimation de position qui fait en sorte qu'un ordinateur exécute un traitement dans lequel un groupe candidat qui exprime des positions d'un terminal dans des cas où le terminal est présent sur chacun parmi une pluralité d'étages est généré en fonction des intensités du champ radio du terminal détecté à chaque instant par une pluralité de stations de base installées sur une pluralité d'étages et les positions de la pluralité de stations de base, et l'étage de localisation sur lequel le terminal se trouve est spécifié en fonction des trajets sur chaque étage du groupe candidat et de conditions de mobilité qui déterminent la mobilité du terminal sur chacun parmi la pluralité d'étages.
PCT/JP2016/061742 2016-04-11 2016-04-11 Programme d'estimation de position, procédé d'estimation de position, et dispositif d'estimation de position WO2017179109A1 (fr)

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JP2018511565A JPWO2017179109A1 (ja) 2016-04-11 2016-04-11 位置推定プログラム、位置推定方法、及び位置推定装置
PCT/JP2016/061742 WO2017179109A1 (fr) 2016-04-11 2016-04-11 Programme d'estimation de position, procédé d'estimation de position, et dispositif d'estimation de position
US16/154,982 US20190045329A1 (en) 2016-04-11 2018-10-09 Apparatus and method to estimate a position of a terminal in a facility having multiple floors

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US11037675B1 (en) * 2018-03-05 2021-06-15 Securas Technologies, LLC Screening-based availability of communications device features
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